L3G4200D.h

00001 /* Copyright (c) 2011 Pololu Corporation.  For more information, see
00002  * 
00003  * http://www.pololu.com/
00004  * http://forum.pololu.com/
00005  * 
00006  * Permission is hereby granted, free of charge, to any person
00007  * obtaining a copy of this software and associated documentation
00008  * files (the "Software"), to deal in the Software without
00009  * restriction, including without limitation the rights to use,
00010  * copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the
00012  * Software is furnished to do so, subject to the following
00013  * conditions:
00014  * 
00015  * The above copyright notice and this permission notice shall be
00016  * included in all copies or substantial portions of the Software.
00017  * 
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
00019  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
00020  * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00021  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
00022  * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
00023  * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
00024  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
00025  * OTHER DEALINGS IN THE SOFTWARE.
00026  */
00027 
00028 #ifndef __L3G4200D_H
00029 #define __L3G4200D_H
00030 
00031 #include "mbed.h"
00032 
00033 // register addresses
00034 
00035 #define L3G4200D_WHO_AM_I      0x0F
00036 
00037 #define L3G4200D_CTRL_REG1     0x20
00038 #define L3G4200D_CTRL_REG2     0x21
00039 #define L3G4200D_CTRL_REG3     0x22
00040 #define L3G4200D_CTRL_REG4     0x23
00041 #define L3G4200D_CTRL_REG5     0x24
00042 #define L3G4200D_REFERENCE     0x25
00043 #define L3G4200D_OUT_TEMP      0x26
00044 #define L3G4200D_STATUS_REG    0x27
00045 
00046 #define L3G4200D_OUT_X_L       0x28
00047 #define L3G4200D_OUT_X_H       0x29
00048 #define L3G4200D_OUT_Y_L       0x2A
00049 #define L3G4200D_OUT_Y_H       0x2B
00050 #define L3G4200D_OUT_Z_L       0x2C
00051 #define L3G4200D_OUT_Z_H       0x2D
00052 
00053 #define L3G4200D_FIFO_CTRL_REG 0x2E
00054 #define L3G4200D_FIFO_SRC_REG  0x2F
00055 
00056 #define L3G4200D_INT1_CFG      0x30
00057 #define L3G4200D_INT1_SRC      0x31
00058 #define L3G4200D_INT1_THS_XH   0x32
00059 #define L3G4200D_INT1_THS_XL   0x33
00060 #define L3G4200D_INT1_THS_YH   0x34
00061 #define L3G4200D_INT1_THS_YL   0x35
00062 #define L3G4200D_INT1_THS_ZH   0x36
00063 #define L3G4200D_INT1_THS_ZL   0x37
00064 #define L3G4200D_INT1_DURATION 0x38
00065 
00066 typedef char byte;
00067 
00068 /** Interface library for the ST L3G4200D 3-axis gyro
00069  *
00070  * Ported from Pololu L3G4200D library for Arduino by
00071  * Michael Shimniok http://bot-thoughts.com
00072  *
00073  * @code
00074  * #include "mbed.h"
00075  * #include "L3G4200D.h"
00076  * L3G4200D gyro(p28, p27);
00077  * ...
00078  * int g[3];
00079  * gyro.read(g);
00080  * @endcode
00081  */
00082 class L3G4200D
00083 {
00084     public:
00085         /** Create a new L3G4200D I2C interface
00086          * @param sda is the pin for the I2C SDA line
00087          * @param scl is the pin for the I2C SCL line
00088          */
00089         L3G4200D(PinName sda, PinName scl);
00090         
00091         /** Read gyro values
00092          * @param g Array containing x, y, and z gyro values
00093          * @return g Array containing x, y, and z gyro values
00094          */
00095         void read(int g[3]);
00096         
00097     private:
00098         byte data[6];
00099         int _rates[3];
00100         I2C _device;
00101         void writeReg(byte reg, byte value);
00102         byte readReg(byte reg);
00103         void enableDefault(void);
00104 };
00105 
00106 #endif